Safe Trajectory Generation for Autonomous Vehicle Based on Reachability Analysis 


Vol. 46,  No. 6, pp. 1001-1005, Jun.  2021
10.7840/kics.2021.46.6.1001


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  Abstract

This paper proposes safe trajectory generation for autonomous driving car in cluttered atypical environments. Obstacle avoidance in an environment where disturbance exists, is executed through trajectory correction, which modifies control input over a finite time horizon, in order for car to be located within a safe area. We calculate the reachable set of autonomous vehicle by taking into account all disturbances, which we represents as ellipses via multiple step tight approximation methods. By approximating the reach-state of the car and obstacles to the ellipse, we deal with obstacle avoidance using the approximation method of Minkowski-Sum.

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  Cite this article

[IEEE Style]

Y. Lee and H. Kim, "Safe Trajectory Generation for Autonomous Vehicle Based on Reachability Analysis," The Journal of Korean Institute of Communications and Information Sciences, vol. 46, no. 6, pp. 1001-1005, 2021. DOI: 10.7840/kics.2021.46.6.1001.

[ACM Style]

Yun-woo Lee and Hyoun-jin Kim. 2021. Safe Trajectory Generation for Autonomous Vehicle Based on Reachability Analysis. The Journal of Korean Institute of Communications and Information Sciences, 46, 6, (2021), 1001-1005. DOI: 10.7840/kics.2021.46.6.1001.

[KICS Style]

Yun-woo Lee and Hyoun-jin Kim, "Safe Trajectory Generation for Autonomous Vehicle Based on Reachability Analysis," The Journal of Korean Institute of Communications and Information Sciences, vol. 46, no. 6, pp. 1001-1005, 6. 2021. (https://doi.org/10.7840/kics.2021.46.6.1001)

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pISSN : 1226 - 4717
eISSN : 2287 - 3880